@incollection{Makadia06constrained,
  author = {Ameesh Makadia},
  editor = {Kostas Daniilidis and Reinhard Klette},
  title = {Correspondenceless Visual Navigation under Constrained Motion},
  booktitle = {Imaging Beyond the Pinhole Camera},
  publisher = {Kluwer Press},
  year = {2006},
  pages = {253--268}
}